Add Carla Simulator Bridge

[hakuturu583]

Carla is a good autonomous driving simulator and it has a lot of functions and there are already exist carla-autoware repo.(https://github.com/carla-simulator/carla-autoware)

New Feature

I want to integrate this repository code into Autoware and integrate carla-autoware bridge into Autoware.

[sgermanserrano]

@hakuturu583 what does this feature need to add to the Autoware repo? Wouldn't it be enough to follow the steps listed in the link you posted?

[hakuturu583]

@sgermanserrano I want to add carla-autoware bridge docker image to the Autoware.

[esteve]

@hakuturu583 Yes, but how? As a submodule? Build Carla in a Dockerfile and ship it with Autoware? We need more information and a concrete plan for every ticket.

[hakuturu583]

@esteve Now, I am thinking Build Carla and Carla-Autoware bridge Dockerfile in the Autoware.
And, enable launch these docker image with roslaunch command.

[sgermanserrano]

@hakuturu583 what would be different from the current docker implementation in CARLA? Can it just be added as a submodule?

[hakuturu583]

@sgermanserrano I am planning to use current docker implementation in CARLA and autoware-carla bridge Docker image.
This is because now carla-bridge setup is very difficult and I thought it is unable to solve it by using rosdep.
So, I think it is better for us to add carla-bridge as a docker image.

[sgermanserrano]

@hakuturu583 what's is the work proposed in this feature then? adding it as a submodule?

[hakuturu583]

@sgermanserrano Now, I am planning to add thease feature as Docker image, not submodule.
Now, carla bridge setup is too much complicated...
So, I think it is the best way to add this feature as docker image.

[hakuturu583]

And, I also sending request to the carla people makes it easier to run with Autoware.
(distribute bridge as python or ROS package etc....)
If they do so, I want to change the implementation of the feature.

[sgermanserrano]

@sgermanserrano Now, I am planning to add thease feature as Docker image, not submodule.
Now, carla bridge setup is too much complicated...
So, I think it is the best way to add this feature as docker image.

@hakuturu583 doing so increases the amount of code/files that we need to maintain, it would be better to PR the improvements to the Carla repository since they already have some implementation of the bridge

[esteve]

@hakuturu583 what exact issues did you encounter when running the Carla bridge? You've mentioned that it's not released as a ROS package, but is there anything else in particular? Both Autoware and Carla would benefit a lot from your feedback.

[esteve]

I found carla-simulator/carla#81 which if addressed, would basically solve all the problems. @hakuturu583 can you chime in there? Making the Carla Python library installable via PIP would just solve all the issues you had.

[hakuturu583]

@esteve Good. I think if the Carla Python library can be installed via PIP, then we can resolve dependency via rosdep and it makes Carla and Autoware much easily.